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[Personalrobots-commit] SF.net SVN: personalrobots:[19746] pkg/trunk
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From: <rdi...@us...> - 2009-07-27 21:16:19
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Revision: 19746
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19746&view=rev
Author: rdiankov
Date: 2009-07-27 21:16:00 +0000 (Mon, 27 Jul 2009)
Log Message:
-----------
several script fixes to openraveros, removed pr2 controller from orrosplanning due to it bringing in 25+ new packages, checkerboard detection header now uses image stamp
Modified Paths:
--------------
pkg/trunk/openrave_planning/openrave/Makefile
pkg/trunk/openrave_planning/openraveros/octave/orRobotGetAttachedSensors.m
pkg/trunk/openrave_planning/openraveros/octave/orRobotGetManipulators.m
pkg/trunk/openrave_planning/openraveros/src/session.h
pkg/trunk/openrave_planning/orrosplanning/manifest.xml
pkg/trunk/openrave_planning/orrosplanning/src/orrosplanningmain.cpp
pkg/trunk/stacks/simulators/opende/Makefile
pkg/trunk/stacks/visual_feature_detectors/checkerboard_detector/checkerboard_detector.cpp
Modified: pkg/trunk/openrave_planning/openrave/Makefile
===================================================================
--- pkg/trunk/openrave_planning/openrave/Makefile 2009-07-27 20:55:44 UTC (rev 19745)
+++ pkg/trunk/openrave_planning/openrave/Makefile 2009-07-27 21:16:00 UTC (rev 19746)
@@ -2,7 +2,7 @@
SVN_DIR = openrave_svn
# Should really specify a revision
-SVN_REVISION = -r 838
+SVN_REVISION = -r 839
SVN_URL = https://openrave.svn.sourceforge.net/svnroot/openrave
#SVN_PATCH = fini_patch.patch
include $(shell rospack find mk)/svn_checkout.mk
@@ -13,7 +13,7 @@
BOOST_LIBRARY_DIRS=$(shell rosboost-cfg --lib_dirs)
installed: $(SVN_DIR) patched
- cd $(SVN_DIR) && export PATH="$(shell rospack find soqt)/bin:$(shell rospack find opende)/opende/bin:$(PATH)" && mkdir -p build && cd build && export CPATH="$(shell rospack find bullet)/include:$(CPATH)" && export LD_LIBRARY_PATH=$(shell rospack find bullet)/lib:$(LD_LIBRARY_PATH) && BOOST_INCLUDEDIR=$(BOOST_INCLUDE_DIRS) BOOST_LIBRARYDIR=$(BOOST_LIBRARY_DIRS) cmake -DCMAKE_INSTALL_PREFIX=$(PWD) -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBoost_INCLUDE_DIR=$(BOOST_INCLUDE_DIRS) -DBoost_LIBRARY_DIR=$(BOOST_LIBRARY_DIRS) .. && export PARALLEL_JOBS=ROS_PARALLEL_JOBS && make $(ROS_PARALLEL_JOBS) install
+ cd $(SVN_DIR) && export PATH="$(shell rospack find soqt)/bin:$(shell rospack find opende)/opende/bin:$(PATH)" && mkdir -p build && cd build && BOOST_INCLUDEDIR=$(BOOST_INCLUDE_DIRS) BOOST_LIBRARYDIR=$(BOOST_LIBRARY_DIRS) cmake -DCMAKE_INSTALL_PREFIX=$(PWD) -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBoost_INCLUDE_DIR=$(BOOST_INCLUDE_DIRS) -DBoost_LIBRARY_DIR=$(BOOST_LIBRARY_DIRS) .. && export PARALLEL_JOBS=ROS_PARALLEL_JOBS && make $(ROS_PARALLEL_JOBS) install
touch installed
clean:
Modified: pkg/trunk/openrave_planning/openraveros/octave/orRobotGetAttachedSensors.m
===================================================================
--- pkg/trunk/openrave_planning/openraveros/octave/orRobotGetAttachedSensors.m 2009-07-27 20:55:44 UTC (rev 19745)
+++ pkg/trunk/openrave_planning/openraveros/octave/orRobotGetAttachedSensors.m 2009-07-27 21:16:00 UTC (rev 19746)
@@ -9,9 +9,9 @@
% Tglobal = Tlink * Trelative
% type - the xml id of the sensor that is attached
function sensors = orRobotGetAttachedSensors(robotid)
-robots = orEnvGetRobots(robotid);
-if( isempty(robots) )
+robot = orEnvGetRobots(robotid);
+if( isempty(robot) )
sensors = [];
else
- sensors = robots.sensors;
+ sensors = robot.sensors;
end
Modified: pkg/trunk/openrave_planning/openraveros/octave/orRobotGetManipulators.m
===================================================================
--- pkg/trunk/openrave_planning/openraveros/octave/orRobotGetManipulators.m 2009-07-27 20:55:44 UTC (rev 19745)
+++ pkg/trunk/openrave_planning/openraveros/octave/orRobotGetManipulators.m 2009-07-27 21:16:00 UTC (rev 19746)
@@ -11,9 +11,9 @@
% effect on the end effector
% iksolvername - name of ik solver to use
function manipulators = orRobotGetManipulators(robotid)
-robots = orEnvGetRobots(robotid);
-if( isempty(robots) )
+robot = orEnvGetRobots(robotid);
+if( isempty(robot) )
manipulators = [];
else
- manipulators = robots{1}.manips;
+ manipulators = robot.manips;
end
Modified: pkg/trunk/openrave_planning/openraveros/src/session.h
===================================================================
--- pkg/trunk/openrave_planning/openraveros/src/session.h 2009-07-27 20:55:44 UTC (rev 19745)
+++ pkg/trunk/openrave_planning/openraveros/src/session.h 2009-07-27 21:16:00 UTC (rev 19746)
@@ -93,7 +93,7 @@
if( !pnode->advertiseService("openrave_session",&SessionServer::session_callback,this, 1) )
return false;
- _sessionname = pnode->mapName("openrave_session");
+ _sessionname = pnode->resolveName("openrave_session");
// advertise persistent services
if( !pnode->advertiseService("body_destroy",&SessionServer::body_destroy_srv,this,-1) )
Modified: pkg/trunk/openrave_planning/orrosplanning/manifest.xml
===================================================================
--- pkg/trunk/openrave_planning/orrosplanning/manifest.xml 2009-07-27 20:55:44 UTC (rev 19745)
+++ pkg/trunk/openrave_planning/orrosplanning/manifest.xml 2009-07-27 21:16:00 UTC (rev 19746)
@@ -8,7 +8,6 @@
<depend package="openrave"/>
<depend package="openrave_robot_description"/>
<depend package="checkerboard_detector"/>
- <depend package="pr2_mechanism_controllers"/>
<depend package="tf"/>
<depend package="robot_msgs"/>
<depend package="mapping_msgs"/>
Modified: pkg/trunk/openrave_planning/orrosplanning/src/orrosplanningmain.cpp
===================================================================
--- pkg/trunk/openrave_planning/orrosplanning/src/orrosplanningmain.cpp 2009-07-27 20:55:44 UTC (rev 19745)
+++ pkg/trunk/openrave_planning/orrosplanning/src/orrosplanningmain.cpp 2009-07-27 21:16:00 UTC (rev 19746)
@@ -28,7 +28,7 @@
#include "mocapsystem.h"
#include "objecttransformsystem.h"
#include "collisionmapsystem.h"
-#include "rosrobotcontroller.h"
+//#include "rosrobotcontroller.h"
#include "rosplanningproblem.h"
// declaring variables with stdcall can be a little complex
@@ -53,10 +53,10 @@
InterfaceBase* DECL_STDCALL(ORCreate, (PluginType type, wchar_t* name, EnvironmentBase* penv))
{
switch(type) {
- case PT_Controller:
- if( wcsicmp(name, L"ROSRobot") == 0 )
- return new ROSRobotController(penv);
- break;
+// case PT_Controller:
+// if( wcsicmp(name, L"ROSRobot") == 0 )
+// return new ROSRobotController(penv);
+// break;
case PT_ProblemInstance:
if( wcsicmp(name, L"ROSPlanning") == 0 )
return new ROSPlanningProblem(penv);
@@ -84,7 +84,7 @@
return false;
}
- pinfo->controllers.push_back(L"ROSRobot");
+ //pinfo->controllers.push_back(L"ROSRobot");
pinfo->problems.push_back(L"ROSPlanning");
pinfo->sensorsystems.push_back(L"ROSMocap");
pinfo->sensorsystems.push_back(L"ObjectTransform");
Modified: pkg/trunk/stacks/simulators/opende/Makefile
===================================================================
--- pkg/trunk/stacks/simulators/opende/Makefile 2009-07-27 20:55:44 UTC (rev 19745)
+++ pkg/trunk/stacks/simulators/opende/Makefile 2009-07-27 21:16:00 UTC (rev 19746)
@@ -1,7 +1,7 @@
# change the next flag to 'no' if drawstuff is not to be built
WITH_DRAWSTUFF = yes
-CFG_OPTIONS = --with-arch=nocona --enable-ou --enable-release --disable-asserts --with-pic #--enable-double-precision
+CFG_OPTIONS = --with-arch=nocona --enable-release --disable-asserts --with-pic #--enable-double-precision
SVN_REVISION = -r 1684
SVN_PATCH = opende_patch.diff
Modified: pkg/trunk/stacks/visual_feature_detectors/checkerboard_detector/checkerboard_detector.cpp
===================================================================
--- pkg/trunk/stacks/visual_feature_detectors/checkerboard_detector/checkerboard_detector.cpp 2009-07-27 20:55:44 UTC (rev 19745)
+++ pkg/trunk/stacks/visual_feature_detectors/checkerboard_detector/checkerboard_detector.cpp 2009-07-27 21:16:00 UTC (rev 19746)
@@ -284,6 +284,7 @@
}
_objdetmsg.set_objects_vec(vobjects);
+ _objdetmsg.header.stamp = _imagemsg.header.stamp;
if( frame_id.size() > 0 )
_objdetmsg.header.frame_id = frame_id;
else
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